iPhone 7 conectivity with 2020 Hyundai Santa Fe

I have an iPhone 7 using iOS 13.6.1 I recently purchased a 2020 Hyundai Santa Fe and had no problems in setting the phone up via bluetooth, except for text messaging. I get a message saying, "your device does not offer text messaging" or something to that effect. I have gone through the set-up process several times with no success.

I have no problem using Apple carplay and getting my text messages via Siri.

How can I get my text messages through the Hyundai infotainment system? What am I missing?